SyncCal
Sync and share iOS/Android calendars with Google Calendar
SyncCal is now also available for Android:

http://synccalandroid.calengoo.com

However so far the Android version can only sync in one direction, i.e. one calendar into another. But it cannot sync changes that you make in the other calendar back into the first calendar. In the iOS version you can choose if you would like to sync only in one direction or in both directions.
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